This paper discusses the problem of controlling highly dynamic technical systems. To enforce the required behavior, sensors informing about the status of the environment are periodically read. The sensor signals are processed in end-to-end computations by computational activities, and, in case the measured data deviate from the technical specification, result in new settings of actuators. We consider the case that the changes of operating conditions of the technical system underlie continuous mode changes. It is assumed that some of the different operation modes mechatronic systems generally work in are not realistic. A higher requirement in one system component may exclude higher requirements in other components. We expect that such dependencies are specified in the technical specification of the mechatronic system, and from them the domain of realistic modes can be derived. Several heuristic algorithms finding minimum sets of feasible allocations for a fixed number of processors are introduced and compared experimentally.